新型机器人六维力传感器的测量电路

Measuring circuit of new-style six-dimension force sensor for robot

针对机器人腕部及手指所受空间六维力/力矩的测量,介绍了一种新型基于Stewart并联结构的六维力传感器,主要研究该传感器的测量电路,并对电桥电压灵敏度及温度补偿方法作了详细研究。

The measuring circuit of new-style six-dimension force sensor based on Stewart parallel structure is presented in this pa- per.The sensor is used to measuresix-dimension force and torque signal forcedonwrist or finger ofrobot.The researchonmeasuring circuit design is presented regarded as emphasis. The voltage sensitivity of electricity bridge and methods of temperature compen- sation are also studied.